Visual Place Recognition on sf_mapi
85.6Recall@1SALAD
Evaluation Results
| Method | Links | |||
|---|---|---|---|---|
| SALADalpha_LLM=0.0, Backbone=DINOv2, Descriptor Dimension=8448D2025.11 | 85.6 | 93.2 | 94.8 | |
| VPR-AttLLMalpha_LLM=0.5, Backbone=DINOv2, Descriptor=SALAD, Descriptor Dimension=8448D2025.11 | 85 | 93.5 | 94.8 | |
| VPR-AttLLMalpha_LLM=1.0, Backbone=DINOv2, Descriptor=SALAD, Descriptor Dimension=8448D2025.11 | 85 | 93.5 | 95.1 | |
| VPR-AttLLMalpha_LLM=0.5, Backbone=ResNet50, Descriptor=CosPlace, Descriptor Dimension=512D2025.11 | 82.5 | 89.9 | 91.6 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=ResNet50, Descriptor=CosPlace2025.11 | 82.4 | 89.2 | 90.6 | |
| VPR-AttLLMalpha_LLM=1.0, Backbone=ResNet50, Descriptor=CosPlace, Descriptor Dimension=512D2025.11 | 82.3 | 90.1 | 91.6 | |
| CosPlacealpha_LLM=0.0, Backbone=ResNet50, Descriptor Dimension=512D2025.11 | 82.2 | 89.8 | 91.3 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=ResNet50, Descriptor=CosPlace2025.11 | 81.9 | 88.5 | 90 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=DINOv2, Descriptor=SALAD2025.11 | 76 | 86.1 | 88.4 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=DINOv2, Descriptor=SALAD2025.11 | 75 | 86.7 | 88.7 | |
| VPR-AttLLMalpha_LLM=0.5, Backbone=VGG16, Descriptor=EigenPlaces, Descriptor Dimension=512D2025.11 | 73.6 | 82.8 | 85.5 | |
| VPR-AttLLMalpha_LLM=1.0, Backbone=VGG16, Descriptor=EigenPlaces, Descriptor Dimension=512D2025.11 | 73.5 | 82.4 | 85 | |
| Query ExpansionQuery Expansion (QE)=k=5, Backbone=VGG16, Descriptor=EigenPlaces2025.11 | 73.5 | 81.6 | 82.8 | |
| EigenPlacesalpha_LLM=0.0, Backbone=VGG16, Descriptor Dimension=512D2025.11 | 72.7 | 82.4 | 85.2 | |
| Query ExpansionQuery Expansion (QE)=k=3, Backbone=VGG16, Descriptor=EigenPlaces2025.11 | 72.6 | 80.5 | 82.2 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=0.52025.11 | 71.6 | 81.6 | 84.6 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=1.02025.11 | 71.6 | 81.6 | 84.8 | |
| SALADBackbone=DINOv2, Descriptor Dim=8192+256D, alpha_LLM=0.02025.11 | 71.1 | 81.3 | 84.3 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 67.7 | 75.7 | 79.2 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 67.3 | 75.8 | 78.5 | |
| EigenPlacesBackbone=ResNet, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 66.4 | 75.3 | 78.5 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 65.5 | 75.2 | 78.3 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 64.8 | 74.8 | 77.8 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 63.7 | 72.3 | 74.9 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 63.4 | 74.2 | 77.3 | |
| CosPlaceBackbone=ResNet50, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 63.4 | 73.1 | 75.4 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=1.02025.11 | 54.9 | 68.7 | 72.8 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.52025.11 | 54.7 | 68.2 | 72.9 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.02025.11 | 54.6 | 68.4 | 73.2 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 54.2 | 67.6 | 70.8 | |
| SALADBackbone=DINOv2, Descriptor Dim=512+32D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 53.7 | 65.9 | 70.2 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 49.5 | 61 | 64 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 49.1 | 58.2 | 62.4 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=1.02025.11 | 48.3 | 59.2 | 63.3 | |
| CosPlaceBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 47.7 | 59 | 63.3 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.52025.11 | 47.4 | 58.6 | 62.6 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.02025.11 | 46.4 | 57.3 | 61 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=32025.11 | 46.1 | 54.8 | 57.6 | |
| EigenPlacesBackbone=VGG16, Descriptor Dim=512D, alpha_LLM=0.0, Query Expansion=k=52025.11 | 46 | 55.7 | 59 |